An RGB-D visual feedback controller for a differential drive attachable wheel system1

Fatalities of children due to trip over from strollers are a major concern of childhood safety. This work proposes an attachable mini-wheel system of a stroller to enhance the safety of stroller handling. The system allows a conventional stroller to move autonomously in response to the position and distance of a parent via a visual feedback controller. Visual information is received from an RGB-D camera that provides RGB images and depth array data. Both data are processed by an embedded microcontroller to detect parent's position and distance from a stroller. The processed data are then passed to the PI control module to control DC motors of the differential drive type mini-wheel system. The experimental results show that the system works significantly with the ability of the system to track a given trajectory.